Pioneer 3™ Pioneer 2™ H8- Series Operations Manual
Pioneer 3™ Pioneer 2™ H8- Series Operations Manual
Pioneer 3™ Pioneer 2™ H8- Series Operations Manual
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Table of Contents<br />
CHAPTER 1 INTRODUCTION................................................................................................................. 1<br />
ROBOT PACKAGE ........................................................................................................................................ 1<br />
Basic Components (all shipments).......................................................................................................... 1<br />
Optional Components and Attachments (partial list) ............................................................................. 1<br />
User-Supplied Components / System Requirements ............................................................................... 2<br />
ADDITIONAL RESOURCES............................................................................................................................ 2<br />
Support Website...................................................................................................................................... 2<br />
Newsgroups ............................................................................................................................................ 2<br />
Support ................................................................................................................................................... 3<br />
CHAPTER 2 WHAT IS PIONEER? .......................................................................................................... 4<br />
PIONEER REFERENCE PLATFORM ................................................................................................................ 4<br />
PIONEER FAMILY OF MICROCONTROLLERS AND OPERATING SYSTEM SOFTWARE ...................................... 5<br />
HITACHI <strong>H8</strong>S-BASED MICROCONTROLLER.................................................................................................. 5<br />
PLUS MOTOR-POWER BOARD ..................................................................................................................... 5<br />
CLIENT SOFTWARE...................................................................................................................................... 6<br />
ActivMedia Robotics Basic Suite ............................................................................................................ 6<br />
ARIA ....................................................................................................................................................... 7<br />
Saphira ................................................................................................................................................... 8<br />
Laser Navigation and Localization......................................................................................................... 8<br />
THE PIONEER LEGACY................................................................................................................................. 8<br />
<strong>Pioneer</strong> 1 and AT.................................................................................................................................... 8<br />
<strong>Pioneer</strong> 2 and PeopleBot........................................................................................................................ 9<br />
New <strong>Pioneer</strong> 3 and Recent <strong>Pioneer</strong> 2-DX8, -AT8, and Plus Mobile Robots .......................................... 9<br />
MODES OF OPERATION.............................................................................................................................. 10<br />
Server Mode.......................................................................................................................................... 10<br />
Maintenance and Standalone Modes.................................................................................................... 10<br />
Joydrive and Self Test Modes ............................................................................................................... 11<br />
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 12<br />
PHYSICAL CHARACTERISTICS.................................................................................................................... 12<br />
MAIN COMPONENTS.................................................................................................................................. 13<br />
Deck...................................................................................................................................................... 13<br />
User Control Panel............................................................................................................................... 13<br />
Body, Nose, and Accessory Panels ....................................................................................................... 14<br />
Sonar Arrays with Gain Adjustment ..................................................................................................... 15<br />
Motors, Wheels, and Position Encoders............................................................................................... 16<br />
BATTERIES AND POWER ............................................................................................................................ 16<br />
Battery Indicators and Low Voltage Conditions...................................................................................17<br />
Recharging ........................................................................................................................................... 17<br />
DOCKING/CHARGING SYSTEM................................................................................................................... 17<br />
<strong>Manual</strong> Operation (Robot Power OFF) ............................................................................................... 18<br />
<strong>Manual</strong> Operation (Robot Power and Systems ON)............................................................................. 18<br />
ONBOARD PC ............................................................................................................................................ 18<br />
Computer Control Panel....................................................................................................................... 19<br />
Operating the Onboard PC .................................................................................................................. 20<br />
PC Networking ..................................................................................................................................... 20<br />
UPS and Genpower .............................................................................................................................. 21<br />
SAFETY AROS WATCHDOGS .................................................................................................................... 22<br />
CHAPTER 4 QUICK START................................................................................................................... 23<br />
PREPARATIVE ASSEMBLY.......................................................................................................................... 23<br />
Install ARIA .......................................................................................................................................... 23<br />
iv
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